| 吴和龙*,向政蓉**,高宇航***,杨剑锋*,蔡茗茜*,吴其琦***.基于Pixhawk飞控的硬件在环仿真系统设计[J].高技术通讯(中文),2024,34(1):46~53 |
| 基于Pixhawk飞控的硬件在环仿真系统设计 |
| Design of hardware-in-the-loop simulation system based on Pixhawk flight control system |
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| DOI：10. 3772/ j. issn. 1002-0470. 2024. 01. 005 |
| 中文关键词: 无人机(UAV)仿真； 硬件在环； Pixhawk飞控； 模拟传感器 |
| 英文关键词: unmanned aerial vehicle (UAV) simulation, hardware-in-the-loop, Pixhawk flight control system, virtual sensor |
| 基金项目: |
| 作者 | 单位 | | 吴和龙* | （*工业和信息化部电子第五研究所广州 511370）
（**广西科技师范学院机械与电气工程学院来宾 546199）
（***广西科技大学自动化学院柳州 545006） | | 向政蓉** | | | 高宇航*** | | | 杨剑锋* | | | 蔡茗茜* | | | 吴其琦*** | |
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| 中文摘要: |
| Pixhawk飞控在民用无人机(UAV)领域得到广泛应用。为了在 Pixhawk飞控上实现硬件在环仿真功能以达到验证飞控飞行性能的目的，设计了基于Pixhawk飞控的四旋翼无人机硬件在环仿真系统。通过构建四旋翼机体模型，实现模型在电机转速信号的驱动下输出位姿数据；位姿数据传输到飞控并重构为模拟传感器数据，飞控内核对传感器数据处理后输出电机转速信号驱动模型飞行，由此构成飞控硬件在环的仿真环路。在测试中使用相同航线进行了仿真飞行与真实飞行，并计算2种飞行模式数据的相关系数，系数普遍高于0.85，表明获得了较为逼真的仿真效果。 |
| 英文摘要: |
| Pixhawk flight control has been widely applied in the field of civilian unmanned aerial vehicle (UAV). In order to realize hardware-in-the-loop simulation function on Pixhawk flight control system to verify the flight control performance, a quadrotor UAV hardware-in-the-loop simulation system based on Pixhawk flight control system is designed. By constructing a quadrotor airframe model, the model outputs position and attitude data driven by motor speed signals. The position and attitude data are transmitted to the flight control system and reconstructed into the analog sensor data. The flight control system processes the sensor data and outputs the motor speed signal to drive the UAV model to fly. In the experiment, the same route is used for simulation flight and real flight, and the correlation coefficient of the data of the two flight modes are calculated. The coefficient is generally higher than 0.85, indicating that a more realistic simulation effect is obtained. |
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